Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Preprint |
| Published: |
2025
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2505.05323 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866917123075342336 |
|---|---|
| author | Das, Ratnangshu Choudhury, Subhodeep Jagtap, Pushpak |
| author_facet | Das, Ratnangshu Choudhury, Subhodeep Jagtap, Pushpak |
| contents | This paper presents a spatiotemporal tube (STT)-based control framework for satisfying Signal Temporal Logic (STL) specifications in unknown control-affine systems. We formulate STL constraints as a robust optimization problem (ROP) and recast it as a scenario optimization program (SOP) to construct STTs with formal correctness guarantees. We also propose a closed-form control law that operates independently of the system dynamics, and ensures the system trajectory evolves within the STTs, thereby satisfying the STL specifications. The proposed approach is validated through case studies and comparisons with state-of-the-art methods, demonstrating superior computational efficiency, trajectory quality, and applicability to complex STL tasks. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_05323 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Approximation-free Control for Signal Temporal Logic Specifications using Spatiotemporal Tubes Das, Ratnangshu Choudhury, Subhodeep Jagtap, Pushpak Systems and Control This paper presents a spatiotemporal tube (STT)-based control framework for satisfying Signal Temporal Logic (STL) specifications in unknown control-affine systems. We formulate STL constraints as a robust optimization problem (ROP) and recast it as a scenario optimization program (SOP) to construct STTs with formal correctness guarantees. We also propose a closed-form control law that operates independently of the system dynamics, and ensures the system trajectory evolves within the STTs, thereby satisfying the STL specifications. The proposed approach is validated through case studies and comparisons with state-of-the-art methods, demonstrating superior computational efficiency, trajectory quality, and applicability to complex STL tasks. |
| title | Approximation-free Control for Signal Temporal Logic Specifications using Spatiotemporal Tubes |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2505.05323 |